WO2022183523A1 - 气振式精密播种流水线多部件协调运动控制装置及方法 - Google Patents
气振式精密播种流水线多部件协调运动控制装置及方法 Download PDFInfo
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- WO2022183523A1 WO2022183523A1 PCT/CN2021/080672 CN2021080672W WO2022183523A1 WO 2022183523 A1 WO2022183523 A1 WO 2022183523A1 CN 2021080672 W CN2021080672 W CN 2021080672W WO 2022183523 A1 WO2022183523 A1 WO 2022183523A1
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- seed
- suction
- tray
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/18—Machines for depositing quantities of seed at intervals
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/002—Dibble seeders
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/08—Devices for filling-up flower-pots or pots for seedlings; Devices for setting plants or seeds in pots
- A01G9/081—Devices for filling-up pots
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/08—Devices for filling-up flower-pots or pots for seedlings; Devices for setting plants or seeds in pots
- A01G9/085—Devices for setting seeds in pots
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/08—Devices for filling-up flower-pots or pots for seedlings; Devices for setting plants or seeds in pots
- A01G9/088—Handling or transferring pots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
Definitions
- the invention belongs to the technical field of agricultural precision seeding, and particularly relates to a multi-component coordinated motion control device and method for an air-vibration type precision seeding assembly line.
- the seed suction height is fixed, which leads to the decrease of the thickness of the seed layer, and the population cannot enter the effective airflow field area, thus reducing the seed suction rate;
- the seedling tray needs to wait for the suction tray to arrive at the seeding position for seeding, and the work efficiency is low.
- the present invention provides a multi-component coordinated motion control device and method for an air-vibration precision seeding line, which is suitable for an air-vibration precision seeding line and can improve seed feeding, seed suction, seed carrying, and seed discharge.
- the present invention achieves the above technical purpose through the following technical means.
- An air-vibration type precision seeding assembly line multi-component coordinated motion control device comprising a seed suction disc motion control part, a mobile seed feeding part and a seed clearing part, and the mobile seed feeding part, the seed suction disc motion control part and the seed clearing part are arranged in the sowing area. Between the hole-pressing mechanism and the topsoil mechanism on the assembly line;
- the motion control part of the seed suction disc includes a seed suction disc, a four-degree-of-freedom manipulator, a vibrating seed-disc and a vacuum pump.
- the seed-suction disc is driven by the four-degree-of-freedom manipulator to move at any position in the Cartesian coordinate system. It is connected with the vacuum pump through the air pipe, and the vibration seed plate is connected with the output shaft of the vibration motor through the crank connecting rod;
- the movable seed feeding component includes a seed feeding mechanism and a seed feeding transmission mechanism.
- the seed feeding mechanism includes a seed feeding motor, a seed dropping valve and a seed feeding bucket.
- the top of the seed dropping valve connected with the output shaft of the seed feeding motor is open to the bottom of the seed feeding hopper. Closely fit; the seed feeding bucket is fixed on the slider of the seed supply transmission mechanism through the Z-type connector; the seed supply transmission mechanism is composed of four-phase connection of the mobile seed supply motor and the linear slide module;
- a positioning baffle is connected to the bracket of the seeding assembly line through a positioning motor, and a distance measuring sensor is installed on the positioning baffle;
- the end of the hole pressing mechanism is provided with a photoelectric sensor 2, and the deflection angle detection mechanism and the photoelectric sensor 1 are respectively arranged just below the corner positions of the two sides when the seed suction tray is located directly above the seeding assembly line;
- the vacuum pump, the vibration motor, the positioning motor, the seed feeding motor, the mobile seed feeding motor and the motors of the four-degree-of-freedom manipulator are all controlled by the main control unit, and the main control unit also receives the ranging sensor, photoelectric sensor 1, photoelectric sensor 2, deflection The angle detection mechanism, the CCD detection element, and the displacement and distance measuring sensor set up by the four-degree-of-freedom manipulator;
- the seed cleaning component includes a two-degree-of-freedom rotating manipulator and a seed-clearing needle, the two-degree-of-freedom manipulator is fixed on the middle beam of the frame, and the seed-clearing needle is arranged on the top of the two-degree-of-freedom rotating manipulator.
- the four-degree-of-freedom manipulator includes a rotating mechanism, a Z-axis transmission mechanism, an X-axis transmission mechanism and a Y-axis transmission mechanism, and the rotating mechanism includes a rotating motor, which is fixed on the metal plate through an L-shaped connecting piece. On the connecting piece, the motor shaft of the rotating motor fixes the seed suction disc through the concave connecting piece.
- the Z-axis transmission mechanism is composed of the Z-axis motor and the second linear slide module installed in direct connection, and the shell of the second linear slide module is fixed on the X-axis transmission mechanism through the second L-shaped connector.
- the output shaft of the Z-axis motor is connected with the third lead screw, and the third lead screw passes through the first slider to form a threaded transmission mechanism one; Fixed with Z-axis displacement sensor measuring rod;
- the casing of the second linear slide module is provided with an upper limit switch, a limit switch to be seeded and a lower limit switch in sequence along the vertical direction, and a Z-axis displacement sensor is also provided on the casing of the second linear slide module. .
- the X-axis transmission mechanism is composed of the X-axis motor and the linear slide module 3 which are directly connected, and the linear slide module 3 is fixed on the upper part of the beam; the X-axis motor is connected with the lead screw one, and the wire
- the rod 1 passes through the inner thread of the sliding block 2 to form the threaded transmission mechanism 2;
- the X-axis distance measuring sensor is installed on the outer shell of the linear sliding table module 3, and the outer shell of the linear sliding table module 3 is also provided with a right-hand side along the X-axis direction.
- Limit switch and left limit switch is composed of the X-axis motor and the linear slide module 3 which are directly connected, and the linear slide module 3 is fixed on the upper part of the beam; the X-axis motor is connected with the lead screw one, and the wire
- the rod 1 passes through the inner thread of the sliding block 2 to form the threaded transmission mechanism 2;
- the X-axis distance measuring sensor is installed on the outer shell of the linear sliding table module 3,
- the Y-axis transmission mechanism includes a transmission shaft and a Y-axis motor, and the two ends of the transmission shaft are respectively connected with two linear modules arranged in the Y-axis direction through couplings, wherein the coupling at one linear module is connected.
- the planetary reducer is installed on the device, and the planetary reducer is installed with the Y-axis motor; the lead screw two of the linear module passes through the slider three to form a threaded transmission mechanism three, and a beam is fixed on the two slider three; the shell of the linear module
- a Y-axis distance measuring sensor is also installed, and a minimum travel limit switch and a maximum travel limit switch are arranged on the shell of the linear module along the Y-axis direction in sequence.
- a multi-component coordinated motion control method for an air-vibration precision seeding assembly line including serial control of seed suction, seed carrying, seed discharge and seed clearing, and parallel movement of seedling tray movement, seed addition and seed suction tray movement along the Y-axis direction control; specifically:
- the positioning baffle is lowered, and the vibrating seed disc vibrates at a high frequency.
- the corrected seed layer thickness and suction The relationship between the seed heights, find the seed suction height corresponding to the thickness of the seed layer, output the seed suction height control signal to the four-degree-of-freedom manipulator, and control the seed suction disc to descend until the seed suction disc reaches the seed suction position, and the vacuum pump turns on the negative pressure.
- Seed suction after the suction is completed, the vibrating seed plate vibrates at low frequency; the seed suction plate goes up, after the upper limit switch is triggered, the seed suction plate carries the seed to the right, when the right limit switch is triggered, the seed suction plate goes down; After the seeding limit switch is triggered and seeding needs to be added, start the mobile seed supply motor and seeding motor, and open the seeding valve; when there is no relative displacement between the seed suction tray and the seedling raising tray, the vacuum pump turns on the negative pressure and starts to follow the discharge. After the seeding is completed, the positioning baffle is opened, and the seed suction disc returns to the initial position; if the seed clearing is required, the two-degree-of-freedom rotating manipulator is activated to clear the seed. After the seed clearing is completed, continue to wait for the entry of the next seedling tray.
- V 2 is the speed of carrying seeds
- V 3 is the running speed of the seed suction disc moving to the seeding position
- V 4 is the following movement speed of the seed suction disc
- V tran is the running speed of the conveyor belt
- h is the height of seed suction
- L 3 is the running distance of the seed suction tray descending to the seeding position
- L 4 is the distance from the seedling tray to the seeding position
- T s is the seed suction time
- ⁇ L is the relative displacement between the suction tray and the seedling tray
- ⁇ t is the suction tray The time required for the speed of the seed tray in the Y-axis direction to be adjusted to the same speed as the seedling tray.
- the acquisition process of correcting the relationship between the thickness of the seed layer and the height of the seed suction is as follows: first, according to the vibration frequency, amplitude and pressure difference, the gas-solid coupling calculation is carried out to obtain the relationship between the thickness of the seed layer and the height of the seed suction under ideal conditions. The ideal corresponding relationship; then carry out bench test according to the vibration frequency, amplitude and pressure difference, take the height of the seed suction rate greater than 95% as the actual seed suction height, and obtain the actual corresponding relationship between the seed suction height and the thickness of the seed layer; finally The actual and theoretical correspondences between the seed suction height and the thickness of the seed layer were compared.
- control process of the seed-carrying speed of the seed-sucking disc in the X-axis direction is as follows: the target curve of the seed-carrying speed is used as the input signal, and the actual speed of the seed-sucking disc in the X-axis direction is used as the feedback link to establish the first predictive controller.
- control the seed carrying speed; the control process of the following speed of the seed suction disc in the Y axis direction is: the seed suction disc follows the speed target curve of the seedling tray as the input signal, and the actual speed of the seed suction disc in the Y axis direction is used as the feedback link.
- Build a second predictive controller to control the follow speed.
- the present invention is based on the idea of time sequence control, adopts the serial control of seed suction, seed carrying, seed discharge and seed clearing, and parallel control of the movement of the seedling tray, the seed feeding and the movement of the seed suction tray along the Y-axis direction to adjust the sowing process.
- the rhythm realizes the best coupling between the operation links of seed adding, seed suction, seed carrying, seed rowing and seed clearing;
- the invention has the function of following the seeding, which can realize the automatic adjustment of the running speed of the suction plate, eliminate the waiting time for seeding, realize the transformation from the two-dimensional plane intermittent seeding to the three-dimensional space following seeding, and effectively improve the seeding efficiency ;
- the rotating mechanism, the Z-axis transmission mechanism, the X-axis transmission mechanism and the Y-axis transmission mechanism constitute a four-degree-of-freedom manipulator that controls the operation of the seed suction tray, and has the function of automatically adjusting the seed suction height, which can reduce the leakage rate;
- the present invention provides a control basis for the rotating mechanism of the four-degree-of-freedom manipulator by setting a deflection angle detection mechanism to detect the deflection angle of the seedling tray, and improves the accuracy of seed placement.
- Fig. 1 is the composition block diagram of the multi-component coordinated motion control device of the gas-vibration type precision seeding assembly line according to the present invention
- Figure 2 (a) is a front view of the multi-component coordinated motion control device for the gas-vibration precision seeding assembly line according to the present invention
- Figure 2 (b) is a top view of the multi-component coordinated motion control device for the gas-vibration type precision seeding assembly line according to the present invention
- Figure 3(a) is a front view of the structure of the four-degree-of-freedom manipulator according to the present invention.
- Figure 3(b) is a top view of the structure of the four-degree-of-freedom manipulator according to the present invention.
- Figure 3(c) is a front isometric view of the Z-axis transmission mechanism according to the present invention.
- Figure 4(a) is a front view of the positioning mechanism according to the present invention when the line is limited;
- Figure 4(b) is an isometric view of the positioning mechanism according to the present invention when it is released;
- Fig. 5 is the detection flow chart of the positioning mechanism according to the present invention.
- Fig. 6 is the system hardware structure diagram of the multi-component coordinated motion control device of the gas-vibration type precision seeding assembly line according to the present invention.
- FIG. 7 is a schematic diagram of the movement process of the seed sucker of the present invention.
- Figure 8 (a) is a schematic diagram of the establishment of the automatic adjustment control model for the seed suction height of the present invention.
- Fig. 8(b) is a flow chart of the control flow of the seed sucking motion of the seed sucking disc according to the present invention.
- Fig. 9 (a) is the following motion control algorithm principle diagram of the present invention.
- Fig. 9 (b) is the control flow chart of the seed-carrying motion control of the seed-sucking disc of the present invention.
- Fig. 10 (a) is the multi-component coordinated motion control control flow chart of the gas-vibration type precision seeding assembly line of the present invention
- Fig. 10 (b) is the control flow chart of the present invention sucking seeds, carrying seeds, rowing seeds, adding seeds, and clearing seeds;
- Figure 11 (a) is a schematic diagram of the main interface of the present invention when the touch screen is turned on and displayed;
- Fig. 11(b) is a schematic diagram of the display main interface in the manual control mode of the touch screen of the present invention.
- Figure 11 (c) is a schematic diagram of the main interface of the display in the automatic control mode of the touch screen of the present invention.
- 9f-minimum travel limit switch 9g-Y-axis motor, 9h-planetary reducer, 9i-flange, 9j-coupling 2, 9k-drive shaft, 9l-linear module, 9m-maximum travel Limit switch, 10-vibrating seed plate, 11-seed cleaning part, 12-vacuum pump, 13-frame, 14-topsoil mechanism, 15-topsoil sweeping mechanism, 16-sprinkling mechanism, 17-seeding assembly line, 18-CCD Detecting element, 19-positioning mechanism, 19a-positioning bracket, 19b-positioning baffle, 19c-ranging sensor, 19d-motor shaft, 19e-coupling three, 19f-positioning motor, 20-photoelectric sensor one, 21- Seedling tray, 22-deflection angle detection mechanism, 23-photoelectric sensor 2, 24-seed clearing needle, 25-rotary manipulator with two degrees of freedom, 26-seed adding mechanism, 27-seed feeding transmission mechanism, 28-seed adding motor, 29 -Seed drop valve, 30-Seed feeding bucket
- a multi-component coordinated motion control device for an air-vibration precision seeding assembly line of the present invention includes a seeding assembly line 17, a motion control part for a seed suction plate, and a mobile seed feeding part 4 And the clearing part 11.
- a conveyor belt drive mechanism is provided on the seeding assembly line 17.
- the seeding assembly line 17 is sequentially provided with a subsoil spreading mechanism 1, a subsoil sweeping mechanism 2, a hole pressing mechanism 3, a topsoil mechanism 14, a topsoil sweeping mechanism 15 and a watering mechanism 16.
- the subsoil spreading mechanism 1 , the subsoil sweeping mechanism 2 , the hole pressing mechanism 3 , the topsoil mechanism 14 , the topsoil sweeping mechanism 15 and the water spraying mechanism 16 are all in the prior art, and will not be repeated here.
- a moving seed feeding part 4 Between the hole pressing mechanism 3 and the topsoil mechanism 14, a moving seed feeding part 4, a motion control part of the suction cup and a seed cleaning part 11 are arranged.
- the motion control part of the suction plate includes the suction plate 5, the rotating mechanism 6, the Z-axis transmission mechanism 7, the X-axis transmission mechanism 8, the Y-axis transmission mechanism 9, the vibrating seed plate 10 and the vacuum pump 12, and the suction plate 5 is driven by the X-axis
- the transmission mechanism 8, the Y-axis transmission mechanism 9, the Z-axis transmission mechanism 7, and the rotation mechanism 6 are driven to move at any position in the Cartesian coordinate system.
- the vibrating seed disc 10 is connected with the output shaft of the vibration motor 33 through the crank connecting rod 34, and the vibrating seed disc 10 is located between the moving seed adding part 4 and the seed clearing part 11;
- the moving seed adding part 4 includes a seed adding mechanism 26 and a seed feeding transmission mechanism 27.
- the seed feeding mechanism 26 is composed of a seed feeding motor 28, a seed dropping valve 29 and a seed feeding bucket 30.
- the output shaft of the seed feeding motor 28 is connected to the seed dropping valve 29 to control the opening size of the seed dropping valve 29.
- the top cut surface of the seed drop valve 29 is in close contact with the bottom opening of the seed feeding bucket 30;
- the right end of the Z-shaped connecting piece 32 is fixed with the shell of the seed feeding bucket 30 by bolts, and the left end of the Z-shaped connecting piece 32 is fixed on the slider ( Included in the linear slide module 4);
- the mobile seed supply motor 31 is connected with the linear slide module 4 through screws to form a seed supply transmission mechanism 27, and the seed supply transmission mechanism 27 is installed on the extension plate of the rack 13;
- the seed cleaning component 11 includes a two-degree-of-freedom rotating manipulator 25 and a seed-cleaning needle 24.
- the base of the two-degree-of-freedom manipulator 25 is fixed on the middle beam of the frame 13 by bolts, and the seed-clearing needle 24 is arranged on the top of the two-degree-of-freedom rotating manipulator 25. Move in the XY plane. By adjusting the process rhythm between the seed sucking plate 5, the moving seed feeding part 4, the seed clearing part 11 and the sowing line 17, the optimal coupling of seed feeding, seed suction, seed carrying, seed rowing and seed clearing can be realized.
- the seeding line 17 is provided with a photoelectric sensor 2 23 at the end of the hole pressing mechanism 3; when the seed sucking plate 5 is located directly above the seeding line 17, a deflection angle detection mechanism 22 is provided just below the right corner position of the seed sucking plate 5, and the left corner position is A photoelectric sensor 20 is provided, and the deflection angle detection mechanism 22 is a pair of ranging sensors.
- the rotation mechanism 6, Z-axis transmission mechanism 7, X-axis transmission mechanism 8 and Y-axis transmission mechanism 9 constitute a four-degree-of-freedom manipulator.
- One end of the L-shaped connector 6d of the rotating mechanism 6 is fixed on the metal plate connector 6e by bolts, and the other end is fixed on the bottom of the rotary motor 6c; the motor shaft 6b of the rotary motor 6c passes through the bottom of the L-shaped connector 1
- the upper end of the connecting piece 6a is connected by a key, the seed suction disc 5 is fixed on the lower end of the concave connecting piece 6a by bolts, and the rotary motor 6c can drive the seed suction disc 5 to rotate at a certain angle;
- the upper end of the metal plate connecting piece 6e is connected with the slider 1 7c, 7k passes through the slider one and 7c constitutes a threaded transmission mechanism one.
- the Z-axis transmission mechanism 7 includes a Z-axis motor 7a and a second linear slide module.
- the Z-axis motor 7a is directly connected to the second linear slide module through screws, and the housing of the second linear slide module is connected by an L-shaped connector.
- the second 7d is fixed on the slider 28g of the X-axis transmission mechanism 8; the power in the vertical direction is provided by the Z-axis motor 7a, the Z-axis motor 7a adopts a stepping motor, and the output shaft of the Z-axis motor 7a passes through the coupling three 7j Connected with the screw 3 7k (Fig.
- the upper limit switch 7b, the limit switch 7e for seeding and the lower limit switch 7f are sequentially fixed in the T-type nut slot 1 along the vertical direction, and the T-type nut slot
- the first is set on the housing of the linear slide module 2, and the position of the limit switch can be adjusted manually;
- the Z-axis displacement sensor base 7g is fixedly installed on the side of the housing of the linear slide module 2, and the Z-axis displacement sensor base 7g is installed on the Z-axis displacement sensor;
- the Z-axis displacement sensor measuring rod 7h is fixedly connected to the metal plate connector extension plate 7i, the metal plate connector extension plate 7i is fixed on the bottom of the metal plate connector 6e, and the Z-axis displacement sensor measuring rod 7h can follow the suction
- the seed disc 5 performs synchronous linear motion.
- the X-axis transmission mechanism 8 includes an X-axis motor 8a and a linear slide module 3.
- the X-axis motor 8a is directly connected to the linear slide module 3 through screws, and the linear slide module 3 is fixed on the upper part of the beam 9d;
- the shaft motor 8a is connected with the lead screw one 8f through the coupling one 8b, and the lead screw one 8f passes through the inner thread of the slider two 8g to form the second thread transmission mechanism; the slider two 8g is driven by the X-axis motor 8a along the horizontal direction.
- the X-axis sensor bracket 8c is installed on the third shell of the linear slide module, and the X-axis distance sensor 8d is fixedly installed on the X-axis sensor bracket 8c, which can measure the displacement of the slider 28g in the X-axis direction; right
- the limit switch 8e and the left limit switch 8h are arranged in the second T-shaped nut slot along the X-axis direction, and the second T-shaped nut slot is opened on the shell of the third linear slide module.
- the transmission shaft 9k of the Y-axis transmission mechanism 9 is respectively connected to two linear modules 91 arranged along the Y-axis direction through two couplings 9j.
- the linear modules 91 are mounted on the frame 13, and the Y-axis motor 9g and the planetary reducer 9h is installed, the planetary reducer 9h is installed with one of the couplings 9j through the flange 9i, and under the control of the motor 9g, the two linear modules 9l move synchronously; the two ends of the beam 9d are respectively fixed on the Y-axis by bolts.
- the second lead screw 9c of the linear module 91 passes through the third slider 9e to form the third threaded transmission mechanism;
- the housing of the linear module 91 is provided with a Y-axis sensor bracket 9a, which is installed on the Y-axis sensor bracket 9a
- the Y-axis distance measuring sensor 9b; the minimum travel limit switch 9f and the maximum travel limit switch 9m are sequentially arranged on the side of the housing of the linear module 9l along the Y-axis direction.
- the positioning mechanism 19 includes a positioning bracket 19a, a positioning baffle 19b, a distance measuring sensor 19c, a motor shaft 19d, a coupling three 19e and a positioning motor 19f; the positioning bracket 19a It is fixed on the bracket of the seeding assembly line 17 by bolts, the positioning motor 19f is fixed on the positioning bracket 19a, the coupling 3 19e is connected with the motor shaft 19d of the positioning motor 19f and the positioning baffle 19b, and the positioning baffle 19b is driven by the positioning motor 19f It can be turned 90° clockwise or counterclockwise; the distance measuring sensor 19c is fixedly installed on the positioning baffle 19b.
- the second photoelectric sensor 23 is triggered, the positioning baffle 19b rotates 90° clockwise and is perpendicular to the conveyor belt, and the distance measuring sensor 19c starts to measure the seedling tray.
- the distance between 21 and the distance measuring sensor 19c is transmitted to the main control unit, and the position of the seedling tray 21 on the sowing line 17 is calculated; when the seeding is completed, the positioning baffle 19b is rotated 90° counterclockwise, parallel to the conveyor belt , the distance measuring sensor 19c stops measuring; when a seedling tray 21 enters the area to be seeded again, the positioning baffle 19b is put down again to start measuring the position of the seedling tray 21, and the cycle is repeated.
- the system hardware of a multi-component coordinated motion control device for an air-vibration precision seeding assembly line of the present invention includes an information acquisition module, a main control unit, a touch screen, a drive module and an execution module.
- the information collection module includes Z-axis displacement sensor, X-axis distance sensor 8d, Y-axis distance sensor 9b, distance sensor 19c, deflection angle detection mechanism 22, photoelectric sensors (photoelectric sensor one 20 and photoelectric sensor two 23), limit Switches (upper limit switch 7b, lower limit switch 7f, limit switch 7e for seeding, right limit switch 8e and left limit switch 8h, minimum travel limit switch 9f, maximum travel limit switch 9m), CCD detection
- the element 18 and the load cell (arranged below the vibrating seed tray 10 ), the CCD detection element 18 is installed on the cross bar above the exit of the seedling tray 21 , and the cross bar is installed on the frame 13 .
- the Z-axis displacement sensor detects the displacement of the seed suction plate 5 in the Z-axis direction
- the X-axis distance measuring sensor 8d and the Y-axis distance measuring sensor 9b detect the displacement of the seed suction plate 5 in the X-axis and Y-axis directions
- the distance measuring sensor 19c It is used to obtain the position of the seedling tray 21 on the sowing line 17, and the deflection angle detection mechanism 22 is used to detect the deflection angle of the seedling tray 21;
- the CCD detection element 18 detects the porosity and the position of plugging holes, and the load cell measures the quality of the seeds in the vibrating seed disc 10 .
- the drive module includes a driver and a frequency converter, and the driver is each stepping motor (rotating motor 6c, Z-axis motor 7a, X-axis motor 8a, Y-axis motor 9g, positioning motor 19f, seeding motor 28 and mobile seed supply motor 31).
- the drive unit is responsible for speed regulation and displacement control of each stepping motor;
- the frequency converter is the drive unit for the vacuum pump 12 and the vibration motor 33 , responsible for the air pressure regulation of the vacuum pump 12 and the rotational speed regulation of the vibration motor 33 .
- the vacuum pump 12, the rotary motor 6c, the Z-axis motor 7a, the X-axis motor 8a, the Y-axis motor 9g, the positioning motor 19f, the seed feeding motor 28, the mobile seed feeding motor 31, the vibration motor 33, and the two-degree-of-freedom rotating manipulator 25 are combined to execute the module.
- the main control unit is a single chip microcomputer or PLC, which is responsible for collecting sensor data and controlling the motion of each axis motor (Z-axis motor 7a, X-axis motor 8a and Y-axis motor 9g) on the seeding device, and cooperates with the seeding assembly line 17 to complete seed feeding, seed suction, and carrying. Seeds, seeding, and clearing work, and the equipment operating parameters are displayed on the industrial touch screen.
- the operation steps of the seed suction tray 5 are: 1-2-3-4-5-6.
- the suction tray 5 adopts the self-starting operation mode to descend from the initial position to the suction position, and starts suctioning the seeds (corresponding to 1);
- the seed suction disc 5 rises to the upper limit (corresponding to 2);
- the S-curve acceleration and deceleration control method is used to carry the seed to the right, and reaches the right limit (corresponding to 3); (corresponding to 4), adjust the accompanying speed, and control the seed suction plate 5 to follow the seedling raising plate 21 to move at the same speed relatively statically, and perform seeding (corresponding to 5); after the seeding is completed, control the seed suction plate 5 in a multi-axis linkage manner Return to the initial position in the shortest time and wait for the next seedling tray to enter the area to be seeded (corresponding to
- a mathematical model of coordinated motion of the seed sucking plate 5 and the seedling raising plate 21 is established.
- the time for the seed suction tray 5 to carry the seeds to the seeding position is equal to the time for the seedling tray 21 to run from the current position to the seeding position, the seed suction tray 5 and the sowing line 17 reach the optimal coupling state.
- the mathematical model of the coordinated operation of the seed suction tray 5 and the seedling tray 21 is established:
- V 1 is the running speed of the seed suction disc 5 in the Z-axis direction
- V 2 is the seed carrying speed
- V 3 is the running speed of the seed suction disc 5 moving to the seeding position
- V 4 is the follow-up of the seed suction disc 5 Movement speed
- V tran is the running speed of the conveyor belt
- h is the height of seed suction
- L 2 is the running distance of carrying seeds
- L 3 is the running distance of the seed suction tray 5 descending to the position to be rowed
- L 4 is the running distance from the seedling tray 21 to the row of seeds distance
- V x0 is the maximum seed carrying speed
- T s is the seed suction time
- T 2 is the seed carrying running time
- ⁇ L is the relative displacement between the seed suction tray 5 and the seedling tray 21
- ⁇ t is the seed suction tray 5 at The time required when the accompanying speed in the Y-axis direction is adjusted to the same speed as the seedling tray 21 .
- the method of combining gas-solid coupling and bench test is used to establish the seed suction height control model: first, according to the vibration frequency, amplitude and pressure difference, the gas-solid coupling calculation is carried out to obtain the ideal The ideal correspondence between the layer thickness and the seed suction height; then conduct a bench test according to the vibration frequency, amplitude and pressure difference, take the height with the seed suction rate greater than 95% as the actual seed suction height, and obtain the seed suction height and seed layer. The actual correspondence between the thicknesses; finally, the actual correspondence between the seed suction height and the thickness of the seed layer is compared with the theoretical correspondence, and the corresponding relationship between the seed suction height and the thickness of the seed layer is corrected.
- the photoelectric sensor on the seeding assembly line 17 detects the number of seedling trays that have been sown. Combined with the porosity measured by the CCD detection element 18, the number N of remaining seeds in the vibrating seed tray 10 is calculated.
- the specific formula is:
- C is the thickness of the seed layer
- ⁇ is the seed density
- m is the grain quality
- D is the population density
- A is the bottom area of the vibrating seed tray 10
- N is the number of grains.
- the vibrating seed disc 10 vibrates at high frequency f1, and the seed layer thickness C is obtained by formula (6), and the interval of the seed layer thickness C is determined. If the seed layer thickness is within the range of C1-C2, then The seed suction height is h1; if the seed layer thickness C is in the range of C2-C3, the seed suction height is h2; and so on, according to the relationship between the corrected seed layer thickness and the seed suction height, find the corresponding seed layer thickness Seed suction height, output the seed suction height control signal to the four-degree-of-freedom manipulator to control the seed suction tray 5 to descend; the Z-axis displacement sensor detects the current descending height of the seed suction tray 5 and compares it with the specified seed suction height until the seed suction tray 5 reaches At the seed suction position, the vacuum pump 12 turns on the negative pressure to suction the seed; when the seed suction is completed, the seed suction mark position is 1, and the vibration seed disc 10 is controlled to vibrate
- the control model of the seed carrying speed in the X-axis direction and the accompanying speed in the Y-axis direction of the seed suction disc 5 is established: according to the established mathematical model of the cyclic motion of seed suction, seed carrying, and seed discharge ( Formula (1)-(3)), use formula (4) to calculate the target curve of the seeding speed as the input signal, and use the actual speed of the seed suction disc 5 obtained by the speed sensor set on the X-axis motor 8a as the feedback link to establish.
- the first prediction controller controls the speed of carrying seeds; the distance difference between the seed suction tray 5 and the seedling raising tray 21 is calculated by the Y-axis ranging sensor 9b and the ranging sensor 19c, and the target curve of the accompanying speed is calculated by formula (5)
- the actual speed of the seed suction disc 5 obtained by the speed sensor set on the Y-axis motor 9g is used as a feedback link to establish a second predictive controller to control the accompanying speed to form a series motion control system.
- An improved generalized predictive control algorithm is used to establish a series motion control model of the carrying speed and the following speed, and the objective function is established by using the output error in the prediction time domain and the control increment weighting in the control time domain.
- the ⁇ factor is added to, and the objective function is as follows:
- N 1 is the minimum prediction time domain length
- N 2 is the maximum prediction time domain length
- Nu is the control time domain length
- y is the future output prediction value
- y r is the input reference value
- ⁇ is the control increment weighting coefficient
- ⁇ u is the predicted output increment
- ⁇ is the weighting coefficient of the control quantity
- f is the inertial force
- m is the mass of the grain
- P is the force of the airflow field on the grain.
- the optimal control law is obtained, and the recursive augmented least squares method with forgetting factor is used to directly identify the inversion part of the optimal control law, establish a predictive controller, and control the X-axis according to the output signal. and Y-axis motor speed.
- the position of the seedling tray 21 on the sowing line 17 is calculated according to the distance measuring sensor 19c, and the seed carrying speed is calculated in combination with the formula (4), and the seed suction tray 5 is controlled to carry the seed to the right; After the switch 8e is triggered, the seed suction tray 5 goes down; when the limit switch 7e to be metered is triggered, it is judged whether seeding needs to be added.
- the deflection angle detection mechanism 22 obtains the distance between the seedling tray 21 and the two edges of the support of the sowing line 17, calculates the deflection angle of the seedling tray 21, and controls the seed suction tray 5 Rotate at a certain angle; calculate the ideal accompanying speed according to formula (5) and input the second prediction controller, adjust the accompanying speed of the seed suction tray 5, and control the seed suction tray 5 to follow the seedling tray 21 to move at the same speed relatively statically;
- the vacuum pump 12 turns on the negative pressure and starts to follow the seeding, and the seeding time is set to 0.5 seconds; after the seeding is completed, the seeding mark is at 1.
- the present invention is a flow chart of multi-component coordinated motion control of an air-vibration precision seeding pipeline. Based on the idea of sequential control, the control process is divided into a serial control relationship and a parallel control relationship. Seed carrying, seeding, and seed clearing are in a serial control relationship, and the movement of the seedling tray 21, the movement of the seeding tray 21 and the movement of the seed suction tray 5 along the Y-axis direction are in a parallel control relationship.
- the seed suction tray 5 When the program is started, check whether the seed suction tray 5 is in the initial position, if not, the seed suction tray 5 will return to the initial position first; when the seed suction tray 5 is in the initial position, start the seed suction tray motion control part and the seeding assembly line 17, Wait for the seedling tray 21 to enter the sowing line 17, and then perform the steps of subsoil laying, subsoil sweeping and hole pressing; when the photoelectric sensor 223 at the entrance detects that the seedling tray 21 has entered, the positioning baffle 19b is lowered to ensure that the seedling tray 21 does not advance in advance Leave the sowing area; at this time, the seedling tray 21 runs at a constant speed on the conveyor belt, and enters the sub-process of seed suction, seed carrying, seed discharge, seed addition, and seed clearing control.
- the seed suction tray is called first Seed flow, control the seed suction tray 5 to suck the seeds down and the vibration frequency of the vibrating seed tray 10, and the air pressure of the vacuum pump 12, as shown in Figure 8(b), which has been described in detail above, and will not be repeated here; when the seed suction flag is At 1:00, the seed sucking plate 5 goes up; when the upper limit switch 7b is triggered, the sub-process of the seed sucking plate 5 carrying the seeds is called to control the seed adding and seeding links of the seed sucking plate 5, as shown in Figure 9(b) , which has been described in detail above, and will not be repeated here; when the seeding flag is 1, the positioning baffle 19b is opened, the seedling tray 21 can leave the seeding area, the sub-process call ends, returns to the pipeline control again, and sequentially enters the overlay Topsoil, sweeping topsoil, and watering; at the same time, the seed suction disc 5 returns to the initial position; if the seed needs to be cleared,
- the operation process interface of the motion control part of the seed suction tray of the present invention is displayed.
- the touch screen is turned on to display the main page: manual control, automatic control, viewing historical information and operation instructions.
- the vibration frequency, the initial height of the seed suction tray, the seed suction pressure value and the seed discharge pressure value can be manually input in the parameter setting module of the touch screen; Press the manual control button, in the manual control module, the four-direction buttons can be used to control the suction plate 5 to move in the four directions of up, down, left and right, and follow the buttons to control the suction plate 5 to move along the Y-axis direction.
- the rotary button can control the suction plate 5 to rotate clockwise or counterclockwise; in the single-step control mode, every time the triangle forward button is pressed, the suction plate 5 performs an action; in the single-cycle control mode, every time the triangle is pressed once Press the forward button, the seed suction disc 5 performs a cycle of motion and then pauses: seed suction, seed carrying, seeding, and returning to the origin; the three start and stop buttons can respectively control the movement of the seed feeding part 4, the seed clearing part 11, and the seeding assembly line 17. Start and stop; if the operation is abnormal, press the emergency stop button to stop all working links.
- the touch screen interface includes parameter setting, seed suction disc control and operation parameter detection; first manually configure the relevant parameters: vibration frequency, initial height of the seed suction disc, seed suction pressure value and Seed air pressure value, after pressing the start button, press the start button on the control interface of the seed suction plate, and the suction plate 5 waits for the motion control signal; press the start button of the assembly line, the assembly line starts to operate, and the seed suction plate 5 cooperates with the assembly line to perform multiple operations.
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Abstract
Description
Claims (10)
- 一种气振式精密播种流水线多部件协调运动控制装置,其特征在于,包括吸种盘运动控制部件和移动加种部件(4),移动加种部件(4)和吸种盘运动控制部件设置在播种流水线(17)上的压穴机构(3)和覆表土机构(14)之间;所述吸种盘运动控制部件包括吸种盘(5)、四自由度机械手、振动种盘(10)和真空泵(12),吸种盘(5)由四自由度机械手带动在直角坐标系内实现任意位置移动,吸种盘(5)的进气孔通过气管与真空泵(12)连接,振动种盘(10)与振动电机(33)的输出轴通过曲柄连杆(34)连接;所述移动加种部件(4)包括加种机构(26)和供种传动机构(27),加种机构(26)包括加种电机(28)、落种阀(29)和进种斗(30),加种电机(28)的输出轴连接的落种阀(29)顶部与进种斗(30)底部开口紧密贴合;进种斗(30)通过Z型连接件(32)固定在供种传动机构(27)的滑块上;供种传动机构(27)由移动供种电机(31)与直线滑台模组四相连接构成;播种流水线(17)的支架上通过定位电机(19f)连接有定位挡板(19b),定位挡板(19b)上安装有测距传感器(19c);压穴机构(3)末端设有光电传感器二(23),偏转角检测机构(22)和光电传感器一(20)分别设置在吸种盘(5)位于播种流水线(17)正上方时两边角位置的正下方;所述真空泵(12)、振动电机(33)、定位电机(19f)、加种电机(28)、移动供种电机(31)以及四自由度机械手的电机均由主控单元控制,主控单元还接收测距传感器(19c)、光电传感器一(20)、光电传感器二(23)、偏转角检测机构(22)、CCD检测元件(18)以及四自由度机械手设置的位移和测距传感器采集的信号。
- 根据权利要求1所述的气振式精密播种流水线多部件协调运动控制装置,其特征在于,所述四自由度机械手包括旋转机构(6)、Z轴传动机构(7)、X轴传动机构(8)和Y轴传动机构(9),所述旋转机构(6)包括旋转电机(6c),旋转电机(6c)通过L型连接件一(6d)固定在金属板连接件(6e)上,旋转电机(6c)的电机轴(6b)通过凹型连接件(6a)固定吸种盘(5)。
- 根据利要求2所述的气振式精密播种流水线多部件协调运动控制装置,其特征在于,所述Z轴传动机构(7)由Z轴电机(7a)与直线滑台模组二采用直连式安装构成,直线滑台模组二的外壳通过L型连接件二(7d)固定在X轴传动机构(8)的滑块二(8g)上;Z轴电机(7a)的输出轴与丝杠三(7k)相连,丝杠三(7k)穿过滑块一(7c)构成螺纹传动机构一;滑块一(7c)还与金属板连接件(6e)上端连接,金属板连接件(6e)通过延长板固连有Z轴位移传感器测量杆(7h);所述直线滑台模组二的外壳上沿竖直方向依次设有上限位开关(7b)、待排种位限位开关(7e)和下限位开关(7f),直线滑台模组二的外壳上还设有Z轴位移传感器。
- 根据利要求2所述的气振式精密播种流水线多部件协调运动控制装置,其特征在于,所述X轴传动机构(8)由X轴电机(8a)与直线滑台模组三采用直连式安装构成,直线滑台模组三固定在横梁(9d)上部;X轴电机(8a)与丝杠一(8f)相连,丝杠一(8f)穿过滑块二(8g)的内螺纹构成螺纹传动机构二;直线滑台模组三外壳上安装有X轴测距传感器(8d),直线滑台模组三的外壳上沿沿X轴方向还设置有右限位开关(8e)和左限位开关(8h)。
- 根据利要求2所述的气振式精密播种流水线多部件协调运动控制装置,其特征在于,所述Y轴传动机构(9)包括传动轴(9k)和Y轴电机(9g),传动轴(9k)两端分别通过联轴器(9j)连接沿Y轴方向设置的两个线性模组(9l),其中一线性模组(9l)处的联轴器(9j)上安装有行星减速机(9h),行星减速机(9h)与Y轴电机(9g)安装;线性模组(9l)的丝杠二(9c)穿过滑块三(9e)构成螺纹传动机构三,两滑块三(9e)上固定有横梁(9d);线性模组(9l)的外壳上还安装有Y轴测距传感器(9b),线性模组(9l)的外壳上沿Y轴方向依次设有最小行程限位开关(9f)、最大行程限位开关(9m)。
- 根据利要求1所述的气振式精密播种流水线多部件协调运动控制装置,其特征在于,还包括清种部件(11),所述清种部件(11)包括二自由度旋转机械手(25)和清种针(24),二自由度机械手(25)固定在机架(13)的中间横梁上,清种针(24)设置在二自由度旋转机械手(25)顶端。
- 一种根据权利要求1-6任一项所述的气振式精密播种流水线多部件协调运动控制装置的控制方法,其特征在于,包括吸种、携种、排种和清种的串行控制,以及育秧盘(21)运动、加种及吸种盘(5)沿Y轴方向运动的并行控制;具体为:吸种盘(5)位于初始位置后,启动吸种盘运动控制部件和播种流水线(17),当播种流水线(17)上有育秧盘(21)进入时,定位挡板(19b)放下,振动种盘(10)高频振动,根据修正后的种层厚度和吸种高度之间的关系,寻找种层厚度对应的吸种高度,输出吸种高度控制信号给四自由度机械手,控制吸种盘(5)下降,直至吸种盘(5)到达吸种位,真空泵(12)开启负压,进行吸种;吸种完成后,振动种盘(10)低频振动;吸种盘(5)上行,上限位开关(7b)被触发后,吸种盘(5)携种右行,当右限位开关(8e)被触发后,吸种盘(5)下行;当待排种限位开关(7e)被触发后,且需要加种时,启动移动供种电机(31)和加种电机(28),打开落种阀(29);当吸种盘(5)和育秧盘(21)无相对位移时,真空泵(12)开启负压,开始跟随排种;排种完成后,定位挡板(19b)打开,吸种盘(5)返回初始位置;若需清种,则启动二自由度旋转机械手(25)进行清种,清种完成后,继续等待下一个育秧 盘的进入。
- 根据权利要求7所述的所述的气振式精密播种流水线多部件协调运动控制方法,其特征在于,修正种层厚度和吸种高度之间的关系的获取过程为:先依据振频、振幅及压差,进行气固耦合计算,获取理想状态下,种层厚度和吸种高度之间的理想对应关系;再根据振频、振幅及压差进行台架试验,以吸种率大于95%的高度作为实际吸种高度,并获取吸种高度和种层厚度之间的实际对应关系;最后将吸种高度和种层厚度之间实际对应关系和理论对应关系作对比。
- 根据权利要求7所述的所述的气振式精密播种流水线多部件协调运动控制方法,其特征在于,吸种盘(5)在X轴方向的携种速度的控制过程为:携种速度的目标曲线作为输入信号,以X轴方向上吸种盘(5)的实际速度作为反馈环节,建立第一个预测控制器,控制携种速度;吸种盘(5)在Y轴方向的随行速度的控制过程为:吸种盘(5)跟随育秧盘(21)的速度目标曲线作为输入信号,以Y轴方向上吸种盘(5)的实际速度作为反馈环节,建立第二个预测控制器,控制随行速度。
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GB2201952.5A GB2617814A (en) | 2021-03-04 | 2021-03-15 | Multi-component coordinated motion control device and method for air vibration type precision seeding assembly line |
JP2022516165A JP7296679B2 (ja) | 2021-03-04 | 2021-03-15 | 空気振動型精密播種ラインの多部材協調動作を行う装置 |
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CN117337667A (zh) * | 2023-11-15 | 2024-01-05 | 东北农业大学 | 适用于播种无人机的水稻直播装置 |
CN117769928A (zh) * | 2023-11-24 | 2024-03-29 | 安徽天德智能装备制造有限公司 | 一种育秧播种方法 |
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CN117769928A (zh) * | 2023-11-24 | 2024-03-29 | 安徽天德智能装备制造有限公司 | 一种育秧播种方法 |
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